# order is:
# Heading
# Position
# Orientation
# Velocity
# AngularVelocity

# Relative Orientation
# Relative Angular Velocity
#----------------

# Heading
0.005036

# Root(pelvis)
0.010356 1.004586 0
0.999415 0.033375 -0.000000 -0.007499
0.095324 -0.255831 1.078190
0.033233 0.356422 0.036231

# pelvis_torso
0.999273 -0.003306 0.036648 0.009947
-0.236725 -0.384427 -0.017056

# lHip
0.977417 -0.210745 -0.002444 -0.015369
-0.064687 -0.168065 -0.098761

# rHip
0.995572 0.086665 -0.009326 0.035206
1.200090 -0.236543 -0.119907

# torso_head
0.998018 -0.029481 -0.055550 -0.002052
0.176709 0.248365 -0.004913

# lShoulder
0.703517 0.023904 0.023195 -0.709898
0.379291 -0.029237 0.072931

# rShoulder
0.712966 -0.053318 0.049272 0.697430
-0.315329 -0.013032 0.125788

# lKnee
0.998585 0.053186 0.000000 -0.000000
-0.455937 -0.000031 -0.000038

# rKnee
1.000000 -0.000006 0.000000 -0.000000
0.005902 0.000000 0.000000

# lElbow
0.995994 0.000000 -0.089415 -0.000000
0.000002 0.078550 -0.000001

# rElbow
0.993670 -0.000000 0.112340 -0.000000
-0.000002 -0.051980 -0.000001

# lAnkle
0.989815 -0.140562 -0.003170 0.022327
5.148876 0.236064 -1.285515

# rAnkle
0.992418 -0.120007 0.003188 -0.026366
-1.379746 0.073858 0.465830

# lToeJoint
0.999999 -0.001482 -0.000001 -0.000000
-7.635414 -0.004551 -0.002237

# rToeJoint
0.999634 -0.027059 -0.000000 -0.000000
0.271065 -0.000046 -0.000000

